kopia lustrzana https://github.com/OpenRTX/OpenRTX
124 wiersze
5.1 KiB
C
124 wiersze
5.1 KiB
C
/***************************************************************************
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* Copyright (C) 2021 by Federico Amedeo Izzo IU2NUO, *
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* Niccolò Izzo IU2KIN, *
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* Frederik Saraci IU2NRO, *
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* Silvano Seva IU2KWO *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, see <http://www.gnu.org/licenses/> *
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***************************************************************************/
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#include <interfaces/platform.h>
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#include <interfaces/delays.h>
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#include <interfaces/gpio.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <hwconfig.h>
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#include <minmea.h>
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#include <interfaces/gps.h>
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char line[MINMEA_MAX_LENGTH*10];
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int main()
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{
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platform_init();
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printf("Checking for GPS... ");
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bool hasGps = gps_detect(5000);
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printf(" %s.\r\n", hasGps ? "OK" : "TIMEOUT");
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gps_init(9600);
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gps_enable();
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while(1)
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{
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int len = gps_getNmeaSentence(line, MINMEA_MAX_LENGTH*10);
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if(len != -1)
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{
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printf("Got sentence with length %d:\r\n", len);
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printf("%s\r\n", line);
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switch (minmea_sentence_id(line, false)) {
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case MINMEA_SENTENCE_RMC:
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{
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struct minmea_sentence_rmc frame;
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if (minmea_parse_rmc(&frame, line)) {
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printf("$RMC: raw coordinates and speed: (%d/%d,%d/%d) %d/%d\n\r",
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frame.latitude.value, frame.latitude.scale,
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frame.longitude.value, frame.longitude.scale,
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frame.speed.value, frame.speed.scale);
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printf("$RMC fixed-point coordinates and speed scaled to three decimal places: (%d,%d) %d\n\r",
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minmea_rescale(&frame.latitude, 1000),
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minmea_rescale(&frame.longitude, 1000),
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minmea_rescale(&frame.speed, 1000));
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printf("$RMC floating point degree coordinates and speed: (%f,%f) %f\n\r",
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minmea_tocoord(&frame.latitude),
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minmea_tocoord(&frame.longitude),
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minmea_tofloat(&frame.speed));
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}
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} break;
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case MINMEA_SENTENCE_GGA:
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{
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struct minmea_sentence_gga frame;
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if (minmea_parse_gga(&frame, line)) {
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printf("$GGA: fix quality: %d\n\r", frame.fix_quality);
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}
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} break;
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case MINMEA_SENTENCE_GSV:
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{
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struct minmea_sentence_gsv frame;
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if (minmea_parse_gsv(&frame, line)) {
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printf("$GSV: message %d of %d\n\r", frame.msg_nr, frame.total_msgs);
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printf("$GSV: satellites in view: %d\n\r", frame.total_sats);
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for (int i = 0; i < 4; i++)
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printf("$GSV: sat nr %d, elevation: %d, azimuth: %d, snr: %d dbm\n\r",
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frame.sats[i].nr,
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frame.sats[i].elevation,
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frame.sats[i].azimuth,
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frame.sats[i].snr);
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}
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} break;
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case MINMEA_SENTENCE_VTG:
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{
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} break;
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// Ignore this message as we take data from RMC
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case MINMEA_SENTENCE_GLL:
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;
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break;
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// These messages are never sent by the Jumpstar JS-M710 Module
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case MINMEA_SENTENCE_GSA: break;
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case MINMEA_SENTENCE_GST: break;
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case MINMEA_SENTENCE_ZDA: break;
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// Error handling
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case MINMEA_INVALID:
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{
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printf("Error: Invalid NMEA sentence!\n\r");
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} break;
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case MINMEA_UNKNOWN:
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{
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printf("Error: Unsupported NMEA sentence!\n\r");
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} break;
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}
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}
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}
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return 0;
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}
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